EP1151897B1 - Computerized control system - Google Patents

Description

The invention relates to a computerized control system according to the preamble of the claim 1.

For road pavers already exist in practice on modern bus technologies based control concepts. According to DE 196 05 926 (preamble of claim 1) are in a paver decentralized control units are used, take over the different functions and communicate with each other via a CAN bus. Will one of them same processing unit components replaced, then no configuration effort required. Namely, the processing unit components have Facilities for identifying specific tasks and activating specific ones Circuit elements and / or software blocks.

A control system known from US 5,469,150 has various components connected to a bus system. There are smart components that make up a CAN processor have and communicate directly as well as simple components that communicate via a multiport connection system, which is designed as an intelligent node is. The node is assigned addresses for communication. The transferred Messages contain a corresponding address field or an identification field.

In one known from DE 195 11 755 C multiplex control of components in Motor vehicles are in housings of connectors multiplex bus electronic components as interoperable electronic elements at the location of the respective component intended. The components are printed circuit boards each with a CAN bus electronic chip and a power section.

Further prior art is contained in US-A-5,469,150, DE-A-195 05 845 and US-A-5 037 308.

The invention is based on the object of a computerized control system for machine controls in general terms and in particular for construction machinery such as Paver, in particular for a paver with electronic leveling system for the screed, specify when connecting or replacing a component whose identification or initialization without any manual Configuration effort is possible. This is essentially intended for systems with frequent components to be exchanged, e.g. within the leveling sensors on a road paver. The control system should also for a variety of Component arrangements with a common hardware base a wide range of products cover, for example, despite varying parameters such as machine type, the growing order, the types of components and special system parameters, so as not to have a separate control system for each machine or type of machine to cut to size.

The stated object is achieved with the features of claim 1.

In terms of components, two embodiments are advantageous. The Component, such as a sensor, is in the junction box on a CAN interface connected. The component is removable at any time and easily replaceable, for example, against another or a same component. Is the CAN interface microprocessor housed in the junction box ("intelligent Junction box "), the component can be relatively simple, because it is just the one identification element required characteristic impedance. The CAN interface processor in the junction box evaluate the characteristic impedance or the information the evaluation electronics of the component and translates this information into corresponding CAN messages for the machine control. In the other embodiment is the component with the integrated CAN interface processor as for example customized solution consuming, while the junction box is simpler and contains only its characteristic resistance. The "intelligence" is here in incorporated a component representing sensor. The sensor evaluates for his Initialization of the identification resistor of the junction box. sensor information are transmitted via the CAN bus directly to the machine control. Indeed It is important that the sensor has a possibility for the evaluation of the characteristic impedance has. In this way, in both embodiments, the components technical Requirements for identifying the connected component without any manual configuration by the user. This Concept is particularly useful for frequently exchanged components, e.g. the sensor sensors of a screed leveling system of a road paver and is based on a hardware base, which is very different Component arrangements different machines and different machine types Cover in a machine series.

Since the component is attached by means of a plug in the junction box is it is expedient to incorporate at least the identification resistor into the plug. This allows an even simpler design of the component. If necessary also implemented the CAN interface microprocessor in the connector. Through this additional equipment of the plug can be both the sensor and the Easy to retrofit plug at any time.

Especially for a smart junction box with implemented CAN interface microprocessor It may be appropriate in the junction box an additional Identification to provide the one of the machine control or other Bus participants needed information regarding the mounting situation of the junction box can give.

Suitably, the computerized control system includes the electronic leveling system for the screed of a road paver. The electronic sensors containing Sensor technology is integrated into the control system via plugs and junction boxes. Connecting a sensor or replacing a sensor is not Manual configuration required by the user to connect each connected Identify and initialize components. This is convenient for the Frequently exchanged sensors of the leveling system of the paver.

Each sensor of the leveling system contains a sensor element and evaluation electronics. If the junction box contains a CAN interface microprocessor For example, the sensor requires the characteristic that is readable by the processor. On the other hand, if the sensor already has the CAN interface microprocessor, then Only in the junction box a characteristic resistor is needed, the microprocessor can evaluate.

In the case of equipped with the CAN interface microprocessor sensor required this also an evaluation for the arranged in the junction box Characteristic impedance.

In order to solve the task also in information technology terms, i. any to avoid manual configuration effort by the user when If a component is connected or exchanged, each should be a bus participant have at least one standard transmit data object, each divided into an identification part and a data part and about to transmit the CAN bus. This object represents a message for a CAN bus system with a special, message-oriented transmission protocol. The standard transmission data object transmitted by a bus subscriber is transmitted by evaluated all other bus participants, who then decide internally, whether they are in process the data contained in the object or not.

Expediently, each bus subscriber has several data objects. With a Configuration standard send data object will be in its data area Information about location and type and the like. Of the bus participant transmitted. These are for the machine control important information, although it is also from other bus subscribers can be considered important.

On the other hand, with a data standard send data object in its data area information about measured values, system states etc. to the other bus users, if necessary, also to the machine control, transmitted.

With an extended transmit data object, e.g. via its identification part Information about the source and destination of the transmission transmitted. It can be this is a point-to-point connection between two or more bus users produce a direct exchange of data.

Finally, receive data objects in their data part contain other bus subscribers transmitted information for internal further processing.

For the clear identification and information technology classification of the Components, the control system has a mechanism that is continuous and cyclically monitors and analyzes the status of the system. Recognize the components automatically the respective information to the place of installation, report on the CAN bus and start operating there. Each cycle will be in so many units of time structured, as it corresponds to the maximum number of bus subscribers. A selected one Bus subscriber starts the cycle preferably with the transmission of a "Zero" and sends its information, e.g. with configuration default send data objects about place and type. All other bus subscribers are ready to receive the first element of the cycle and start its internal clock after receiving it for cycle control. As the cycle properties progress, all bus users switch synchronously for the corresponding cycle unit a receive data object, excluding the bus subscriber whose subscriber identification number or -ort corresponding to the corresponding cycle unit identification number. This Bus subscriber directs, under the corresponding number, for example, a configuration standard transmission data object and sends its identification information about location and type via the CAN bus. In this way every bus participant can Create a table with all existing bus users within a cycle. This table is then used as a basis for the determination of the respective Communication participant used.

Fig. 1

eine schematische Draufsicht auf einen mit einer Einbaubohle mit Nivelliersystem ausgestatteten Straßenfertiger als Beispiel einer ein computerisiertes Steuersystem enthaltenden Maschine,

Fig. 2

eine erste Ausführungsform des Anschlusskonzepts einer Komponente an das Steuersystem,

Fig. 3

eine andere Ausführungsform des Anschlussprinzips einer Komponente, und

Fig. 4A -E

informationstechnische Schemata zu Datenobjekten, mittels derer in dem Steuersystem kommuniziert wird.

Reference to the drawings, embodiments of the subject invention will be explained. Show it:

Fig. 1

a schematic plan view of a equipped with a screed leveling system paver as an example of a machine containing a computerized control system,

Fig. 2

A first embodiment of the connection concept of a component to the control system,

Fig. 3

another embodiment of the connection principle of a component, and

Fig. 4A-E

Information technology schemes for data objects by means of which the control system communicates.

In Fig. 1 is schematically a machine X with a computerized control system SS exemplified by a paver F with a screed B and a electronic leveling system N shown. The road paver F has a driving part 1 with the usual, not shown here equipment. The screed EB is attached to the Driving part 1 attached. The screed EB can be with adjusting devices, not shown relative to the driving part 1, wherein the control system SS for leveling the screed EB by means of attached to this electronic leveling system N serves. In the leveling system N is a plurality of components, for example Sensors NS, in different positions, for different functions and in different types. These components are connected to a CAN bus 2 interchangeably connected, to which also a machine control CPU is connected is. For the connection of each component or each sensor NS the CAN bus 2 is a junction box 3, the connection principle more clearly will be explained with reference to FIGS. 2 and 3. The junction boxes 3 are at the required Positions on the screed EB and / or on the chassis 1 and / or on unspecified highlighted auxiliary structures attached and to the CAN bus. 2 connected.

In Fig. 2, a connection principle is shown, in which as busteilnehmende component a relatively expensive sensor NS connected via the junction box 3 to the CAN bus 2 is. The sensor NS contains at least one sensor element in a housing 5 4, an evaluation electronics 6 and a CAN interface microprocessor 7. The junction box 3, however, contains only the CAN bus 2 and an identification element 8, for example, a characteristic resistor, the junction box. 3 assigned. When connecting the sensor NS to the junction box 3 is the Processor 7 connected to the CAN bus 2 and also a connection 9 between the processor 7 and the identification element 8 produced.

The "intelligence" of this connection concept is located in the sensor NS itself Sensor NS or the processor 7 evaluates the identification element for the initialization 8 of the junction box 3 off. The sensor information needed in the controller are then transmitted directly to the machine control CPU via the CAN bus 2. The junction box 3 is structurally simple, since they only the characteristic identification element 8 includes. The sensor NS has a possibility in this configuration to evaluate the identification element 8 in the junction box 3.

The connection concept shown in FIG. 3 is a structurally simpler, a bus subscriber or component-forming sensor NS is connected, while the "intelligence" of the connection concept in the elaborately designed Junction box 3 is housed.

The sensor NS contains in its housing 5 at least one sensor element 4 and a Evaluation electronics 6. Furthermore, in the sensor NS an identification element 8, For example, a characteristic resistor included. In the junction box 3 is the CAN interface microprocessor 7 and connected to the CAN bus 2. When connecting the sensor NS to the junction box 3 is not only a connection produced between the evaluation electronics and the microprocessor 7, but also a connection 9 from the microprocessor 7 to the identification element. 8 As the respective identification element 8, not only a characteristic resistor can be used but there are also other electronic components available for this purpose. To Making the connection evaluates the microprocessor 7 in the junction box 3 the Information from the evaluation electronics 6 and translates them into appropriate CAN messages for the machine control CPU or for other bus users.

In the junction box 3, an additional identification element 8 'implemented be that gives a statement regarding the mounting situation of the junction box 3.

In Fig. 3, the identification element 8 is shown in the housing of the sensor NS. Since the Sensor NS connected to the junction box by means of a plug, not shown is, the identification element 8 (possibly also the microprocessor 7) can be accommodated in this plug. This allows easy retrofitting or a simple exchange. Between the additional identification element 8 'in the junction box 3 and the microprocessor 7 can be a fixed connection 9 'be provided.

To uniquely identify the components or bus users within the controller and to be able to classify information technology, a mechanism is necessary continuously and cyclically monitoring and analyzing the status of the system. Around any manual effort to configure the system when connecting or To avoid replacement of a component, the components must be self-contained recognize the location information, log on to the CAN bus, and theirs Recording operation on the CAN bus.

In the control system shown, a CAN bus 2 is used, which with a special message-oriented communication protocol works. The news will be typically divided into an identifying area and a data area. In the control system, for example, certain data objects are called Transmits messages that are available to each bus user and that are based on the Fig. 4A to E will be explained.

FIG. 4A illustrates a standard transmit data object DO, which is made up of fields, for example is constructed and consists of the identifying part ID and a data part DT.

With sending of a standard send data object DO by a bus user All other bus subscribers are made to decide internally if they want to processing data contained in this data object or not.

In the standard transmission data objects DO according to FIG. 4A, there are two different ones Types, namely a configuration standard transmission data object KDO, according to FIG. 4B and a data standard transmit data object SDO according to FIG. 4C.

A configuration standard send data object KDO, structured in the identifying Part ID and the data part DT, are information about location in the data area and type and the like of the bus user transmitting this data object.

The data standard transmit data object SDO according to FIG. 4C, on the other hand, contains in its Data part DT Information M, S about measured values, system states, etc., which on the other bus subscribers can be transmitted and read by them.

Furthermore, the bus users use the extended send data object ESDO according to Fig. 4D, in its identifying part ID information Q, Z about the source and the destination, etc. of the transmission. With this data object can be a Establish a point-to-point connection between at least two bus participants, the allows a direct data exchange.

Finally, receive data objects EDU according to FIG. 4E are also used in which in the data part DT Information IZW for internal further processing at the receiver contained and transmitted by other bus subscribers.

In the mentioned continuous and cyclical monitoring and analysis of the Status of the system, a cycle is structured in as many units of time as maximum Bus participants are provided. A selected bus participant starts the cycle preferably with the transmission of a "zero" and sends information, e.g. above a configuration standard transmit data object KDO according to FIG. 4B over location and Type off. All other bus subscribers are ready to receive the first element of the Cycles and start after receiving their internal clocks for cycle control. As the cycle characteristics progress, all bus users switch synchronously for the corresponding cycle unit, a receive data object, except the Bus subscriber whose subscriber identification number or subscriber identification location corresponds to the corresponding cycle unit identification number. This Bus subscriber directs a transmission object under the corresponding number, e.g. a standard configuration transmit data object, and sends its identification information about location and type. Each bus participant submits within one Cycles a table with all the existing participants. This table is the Decision basis for the determination of the respective communication participants. Thereafter, the control system is initialized and the bus subscribers are identified.

In the case of larger amounts of data, sub-addresses will be in the data level of the messages defined that are at least one byte in size.

Claims (9)

1. A computerised control system for a building machine (X), particularly a road finisher (F), with components (NS) which are incorporated in the control system and generate data and/or react to transmitted data, with a CAN-Bus (2) which is connected to a machine control system (CPU) and to which the components are connected as bus subscribers in interfaces with which there are associated CAN interface microprocessors (7), characterised in that each interface has a junction box (3) for at least one component (NS), in that the CAN interface microprocessor (7) is incorporated either in the junction box (3) or in the component (NS) and in that at least one image impedance is implemented, as an electronic identification element (8, 8'), in the junction box (3) and/or in the component (N/S).
2. A computerised control system according to claim 1, characterised in that the component (NS) comprises a plug mounted in the junction box (3) and in that the image impedance is disposed in the plug.
3. A computerised control system according to claim 1, characterised in that an attachment situation image impedance is additionally provided in the junction box (3) or the image impedance provided in the junction box (3) is additionally constructed as an attachment situation image impedance.
4. A computerised control system according to at least one of the preceding claims, characterised in that the components (NS) are electronic sensors of an electronic screed levelling system (N) of a road finisher (F) and in that the sensors are interchangeably connected to the CAN bus (2).
5. A computerised control system according to claim 4, characterised in that each sensor (NS) comprises at least one sensor element and an electronic evaluator (6) for the image impedance.
6. A computerised control system according to claim 1, characterised in that the component (NS) has available at least one standard transmission data object (DO), each such object being divided up into an identification part (ID) and a data part (DT) and in that the data part (DT) contains information (OT) either concerning the location and type and the like of the component and/or concerning measurements, system states, or the like, for transmission.
7. A computerised control system according to claim 1, characterised in that at least one component (NS) has available an expanded transmission data object (ESDO) for point-to-point transmission between bus subscribers, which object in its identification part (ID) contains information (QZ) concerning the source and at least one target of the transmission.
8. A computerised control system according to claim 1, characterised in that at least one component (NS) has available a reception data object (EDO) which in its data part (DT) contains information for internal data further processing by the receiver.
9. A computerised control system according to claim 1, characterised in that the control system (SS) comprises a clock-controlled mechanism for cyclic and continuous system status monitoring, in that each cycle can be structured by the mechanism into a number of time units corresponding to the maximum number of components, in that the components (NS) contain internal clocks, and in that a table for the existing components can be applied from each component (NS) within a cycle and be used as a decision basis for determining respective subscribing components.

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